JP4095331B2 - Method and apparatus for measuring motor restraint torque - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a method and an apparatus for measuring a binding torque of a motor.
[0002]
[Prior art]
Conventionally, in the measurement of the motor's restraining torque, the motor that rotates by applying a predetermined voltage is braked with air pressure, hysteresis, electromagnetic, etc. and stopped while decelerating, and the restraining torque at that time is measured. It was.
[0003]
[Problems to be solved by the invention]
However, in the method of decelerating and stopping while applying the brake as described above, it is difficult to decelerate linearly in the vicinity of the stop rotational speed, and a sudden stop tends to occur. Therefore, there is a problem that the measurement of the binding torque varies. Therefore, there has been a demand for a method and apparatus capable of smoothly decelerating from the start of deceleration to stopping and capable of measuring without variation of the restraining torque.
[0004]
[Means for Solving the Problems]
In the first and second aspects of the invention, a load motor is connected to the motor via a torque measuring device, and a predetermined voltage is applied to the motor to rotate the motor. At the start of measurement of the motor, the motor and the load By rotating the motor synchronously and rotating the concave and convex portions of the coupling portions with a constant interval, the motor is unloaded, and when measuring the motor, the load motor is decelerated and rotated in the same direction as the motor. The motive power of the load motor is transmitted to the motor by bringing the concavities and convexities of the coupling parts into contact with each other, and the restraint torque of the motor when the load motor is stopped is measured by the torque measuring device. And
[0005]
The third invention further includes a rotation detector that detects the rotation of the motor, and controls the rotation of the load motor in accordance with a measurement value of the rotation detector.
[0006]
Operation and effect of the invention
In the first and second inventions, since the motor can be stably decelerated and stopped using the load motor, there is no variation in the measured restraining torque.
[0007]
In the third aspect of the invention, since the rotation of the load motor is controlled according to the measured value of the rotation detector that detects the rotation of the motor, the speed of the load motor can be arbitrarily controlled, and the restraining torque of the motor Can be optimized.
[0008]
DETAILED DESCRIPTION OF THE INVENTION
An embodiment of the present application will be described below.
[0009]
The configuration of the apparatus of the present application includes a setting unit of the motor (3) that measures the restraining torque and a load applying unit that decelerates the rotation of the motor (3).
[0010]
First, regarding the setting part of the motor (3), the motor support plate (2) is erected on the base (1), and the motor (3) is attached to the motor support plate (2). A specific attachment method is not particularly illustrated, but a fixing method that can be removed with one touch and is securely fixed is desirable. In the embodiment, the motor (3) is provided with a speed reducer. However, the present invention is not limited to this, and a single motor may be used.
[0011]
Next, the load applying unit is connected to the output shaft of the motor (3) attached to the setting unit and the rotatable rotating shaft 1 (6) connected by the connecting portion (5), and further to the rotating shaft 1 (6). The rotating shaft 2 (9) on the drive side of the torque measuring device (7) to be connected, the rotating shaft 3 (10) on the load side of the torque measuring device (7), and the rotating shaft 3 (10) are fixed. Pulley 1 (12), pulley 2 (13) connected to this pulley 1 (12) via a belt (14), and a rotation detector whose output shaft is connected and fixed to this pulley 2 (13). It consists of an encoder (16).
[0012]
In addition, the rotating shaft 3 (10) and the rotating shaft 4 (11) rotated by the load motor (15) are arranged such that coupling portions (17) each having a concavo-convex portion are arranged at a predetermined interval. The side surfaces of the two are in contact with each other and coupled to transmit power.
[0013]
The load applied to the motor (3) is detected from the output cable (8) by detecting the torque generated between the left and right shafts of the torque measuring device (7) with a strain gauge.
[0014]
Next, the operation of this apparatus will be described.
[0015]
First, the motor (3) for measuring the restraining torque is attached to the motor support plate (2). As described above, the attachment method may be various simple and reliable methods.
[0016]
Next, the output shaft of the motor (3) is connected to the rotating shaft 1 (6) by the connecting portion (5), and in this state, a predetermined DC voltage is applied to the motor (3) from the power cable (4). Then, the motor (3) is rotated.
[0017]
Then, the rotating shaft 1 (6), the rotating shaft 2 (9) on the driving side of the torque measuring device (7) connected thereto, and the rotating shaft 3 (10) on the load side of the torque measuring device (7) are integrated. Rotate to. A pulley 1 (12) is fixed to the rotary shaft 3 (10), and the pulley 1 (12) also rotates at the same time, and is connected via a belt (14) and a pulley 2 (13). (16) rotates to measure the rotational speed of the motor (3).
[0018]
The rotating shaft 3 (10) and the rotating shaft 4 (11) arranged coaxially with the rotating shaft 4 (11) have a predetermined gap in the coupling portion (17) constituted by the concavo-convex portions, so that the motor (3) When the rotation starts, the rotation speed is measured by the encoder (16), and the load motor (15) rotates in synchronization with the motor (3) by a control device (not shown). Therefore, the coupling portions (17) of each other rotate without being in contact with each other, and the motor (3) rotates without load.
[0019]
The motor (3) is accelerated according to its mechanical time constant at the beginning of rotation, reaches a constant rotational speed, rotates for a while without load, and then decelerates the load motor (15) to rotate with the rotating shaft 4 (11). When the side surface of the coupling portion (17) of the shaft 3 (10) comes into contact with the load motor (15), the motor (3) is forcibly decelerated and stopped.
[0020]
The rotational speed of the load motor (15) is controlled to be reduced so that the rotational speed of the motor (3) continuously decreases while measuring the rotational speed of the encoder (16). It is possible to control the deceleration with an arbitrary or arbitrary curve.
[0021]
In this way, the load of the motor (3) continuously increases from the initial no-load state according to the speed of the load motor (15). Then, when the speed of the motor (3) is zero, that is, when the motor (3) stops, the load applied to the motor (3) is maximized, and the restraint torque is measured by the torque measuring device (7).
[0022]
The torque measuring device (7) has a rotating shaft 2 (9) and a rotating shaft 3 (10) on the left and right, one on the drive side (rotating shaft 2 (9)), and one on the load side (rotating). Axis 3 (10)). Then, the amount of twist caused by the torque difference between the drive side and the load side is detected by a strain gauge, and the generated torque is measured.
[0023]
In the present application, a predetermined voltage is applied to the motor (3) to cause a predetermined rotation to rotate the drive side shaft of the torque measuring device (7). Correspondingly, after rotating the rotating shaft on the load side synchronously in the same direction while measuring the rotation speed of the motor (3) with the encoder (16), the load motor (15) is decelerated and stopped at a constant deceleration. Let
[0024]
By doing so, the motor (3) decelerates by being forced by the speed of the load motor (15), the amount of twist between the rotating shafts increases in proportion to the amount of deceleration, and the torque generated by the motor (3) also increases. I will do it.
[0025]
In this way, the rotation speed of the motor (3) is continuously decelerated from the constant speed rotation to the stop of the motor (3), and thus the generated torque is also continuously increased. Therefore, the generated torque (restraint torque) when the motor (3) is stopped can be accurately measured.
[0026]
When the motor is decelerated by conventional pneumatic pressure, hysteresis, electromagnetic brake, etc., it is difficult to control the motor (3) to decelerate at a constant speed. It will occur. For this reason, the torque at the time of stopping (restraint torque) changes greatly in the vicinity of the stop, so that the measurement is not stable and the measured values vary.
[Brief description of the drawings]
FIG. 1 is a side view of a restraint torque measuring device showing an embodiment of the present invention. FIG. 2 is a plan view showing a coupling state between a rotating shaft 3 and a rotating shaft 4 according to an embodiment of the present invention. The figure which shows the rotation speed of the motor of embodiment of this invention, and the relationship of a torque
DESCRIPTION OF SYMBOLS 1 Base 2 Motor support plate 3 Motor 4 Power cable 5 Connection part 6 Rotating shaft 1
7 Torque measuring device 8 Output cable 9 Rotating shaft 2
10 Rotating shaft 3
11 Rotating shaft 4
12 Pulley 1
13 Pulley 2
14 Belt 15 Load motor 16 Encoder 17 Coupling part

Claims (3)

In the method of measuring the motor restraining torque,
A load motor is connected to the motor via a torque measuring device,
While applying a predetermined voltage to the motor and rotating it,
At the start of measurement of the motor, the motor and the load motor are rotated synchronously, and the motor is unloaded by rotating the concavities and convexities of each coupling portion with a constant interval.
At the time of measurement of the motor, the load motor is decelerated and rotated in the same direction as the motor, and the power of the load motor is transmitted to the motor by bringing the unevenness of the coupling part into contact with each other, and the load motor is stopped. A method for measuring a motor restraining torque, comprising: measuring a restraining torque of the motor at the time by the torque measuring device. In the measuring device for the motor restraining torque,
A load motor coupled to the motor via a torque meter;
A coupling part in which the unevenness of each other is arranged with a predetermined interval, and the power of the load motor is transmitted to the motor by being in contact with each other, and
While applying a predetermined voltage to the motor and rotating it,
At the start of measurement of the motor, the motor and the load motor are rotated synchronously, and the unevenness of the coupling part of each other is rotated with a constant interval to make the motor unloaded,
At the time of measurement of the motor, the load motor is decelerated and rotated in the same direction as the motor, and the power of the load motor is transmitted to the motor by bringing the concave and convex portions of the coupling portions into contact with each other. An apparatus for measuring a restraining torque of a motor, wherein the restraining torque of the motor at a stop is measured by the torque measuring device. A rotation detector for detecting rotation of the motor;
The apparatus for measuring a binding torque of a motor according to claim 2 , wherein the rotation of the load motor is controlled in accordance with a measurement value of the rotation detector.

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